version: 66.08
glider: 169
mission: 2
dive: 230
start: 10 9 110 6 32 16
data:
$ID,169
$MISSION,2
$DIVE,230
$N_DIVES,237
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,110
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,640
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6972.0547
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,32
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3091
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.551537
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,091010,062656,2414.997,12612.352,14,1.7,14,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.4
$GPS2,091010,063150,2414.953,12612.319,12,1.7,12,-3.7
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,195.4,27699,-21.0,-15.152
$D_GRID,1645
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-204.4,0.0,0.0,0,115,0.00,0.00,-97.38,0.000,2,0.000,0.000,140,1990,3112,0,0,0,0,0,0
$GC,117,-0.72,-204.4,3.5,-5.6,12,152,9.62,1.77,-14.02,0.000,4,0.238,0.073,2492,877,3928,0,0,0,0,0,0
$GC,317,-0.72,-204.4,69.0,-19.7,44,326,0.00,1.83,0.00,0.000,6,0.000,0.055,2492,2033,3929,0,0,0,0,0,0
$GC,682,-0.71,-204.4,165.3,-24.9,105,688,0.00,1.77,0.00,0.000,4,0.000,0.049,2492,866,3932,0,0,0,0,0,0
$GC,755,-0.71,-204.4,181.3,-19.0,117,762,0.00,1.83,0.00,0.000,6,0.000,0.054,2492,2049,3931,0,0,0,0,0,0
$GC,1110,-0.71,-204.4,252.5,-20.8,178,1119,0.00,1.75,0.00,0.000,4,0.000,0.061,2492,3167,3932,0,0,0,0,0,0
$GC,1219,-0.72,-204.4,270.8,-16.2,196,1228,0.00,1.77,0.00,0.000,6,0.000,0.043,2492,2003,3932,0,0,0,0,0,0
$GC,1568,-0.72,-204.4,330.2,-15.7,241,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2001,3932,0,0,0,0,0,0
$GC,1888,-0.73,-204.4,380.6,-16.7,271,1891,0.00,1.83,0.00,0.000,4,0.000,0.058,2492,3168,3931,0,0,0,0,0,0
$GC,1971,-0.74,-204.4,393.7,-13.9,278,1981,0.00,1.77,0.00,0.000,6,0.000,0.044,2492,2009,3930,0,0,0,0,0,0
$GC,2298,-0.74,-204.4,439.2,-13.0,309,2302,0.00,1.85,0.00,0.000,4,0.000,0.062,2492,3167,3928,0,0,0,0,0,0
$GC,2323,-0.75,-204.4,442.3,-12.4,311,2327,0.00,1.80,0.00,0.000,6,0.000,0.044,2492,2002,3929,0,0,0,0,0,0
$GC,2654,-0.76,-204.4,485.0,-14.1,342,2658,0.00,1.83,0.00,0.000,4,0.000,0.060,2492,3167,3926,0,0,0,0,0,0
$GC,2692,-0.77,-204.4,489.9,-13.7,345,2695,0.00,1.80,0.00,0.000,6,0.000,0.044,2492,2002,3926,0,0,0,0,0,0
$STATE,2765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2765,begin apogee
$GC,2770,-0.18,0.0,500.2,14.2,352,2934,0.55,0.08,157.55,0.865,6,0.153,0.107,2661,2091,3091,0,0,0,0,0,0
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2935,begin climb
$GC,2937,0.72,204.4,511.1,0.0,365,3117,0.82,1.83,168.43,0.858,4,0.070,0.039,2968,957,2255,0,0,0,0,0,0
$GC,3213,0.71,204.4,492.3,17.0,388,3221,0.00,1.83,0.00,0.000,6,0.000,0.034,2968,2150,2247,0,0,0,0,0,0
$GC,3540,0.70,204.4,433.9,18.6,419,3543,0.00,1.70,0.00,0.000,4,0.000,0.041,2967,3272,2242,0,0,0,0,0,0
$GC,3632,0.69,204.4,418.4,16.6,427,3636,0.00,1.75,0.00,0.000,6,0.000,0.032,2976,2080,2241,0,0,0,0,0,0
$GC,3965,0.72,238.3,371.4,13.5,458,4002,0.00,1.88,26.65,0.773,4,0.000,0.042,2976,3272,2117,0,0,0,0,0,0
$GC,4097,0.72,238.3,350.1,17.7,469,4106,0.00,1.80,0.00,0.000,6,0.000,0.031,2985,2084,2111,0,0,0,0,0,0
$GC,4426,0.71,238.3,298.0,15.9,501,4434,0.00,1.77,0.00,0.000,4,0.000,0.040,2985,3277,2107,0,0,0,0,0,0
$GC,4446,0.70,238.3,294.6,15.6,504,4455,0.10,1.80,0.00,0.000,6,0.161,0.031,2962,2074,2107,0,0,0,0,0,0
$GC,4797,0.79,313.6,249.3,11.4,565,4868,0.00,1.73,59.80,0.715,4,0.000,0.041,2970,967,1809,0,0,0,0,0,0
$GC,4917,0.85,359.5,234.7,12.9,583,4961,0.10,1.77,37.42,0.682,6,0.093,0.034,3025,2152,1624,0,0,0,0,0,0
$GC,5302,0.84,359.5,160.8,19.5,649,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2152,1614,0,0,0,0,0,0
$GC,5663,0.84,359.5,94.9,20.0,710,5672,0.00,1.77,0.00,0.000,4,0.000,0.038,3034,968,1612,0,0,0,0,0,0
$GC,5768,0.84,359.5,77.5,16.0,727,5777,0.08,1.77,0.00,0.000,6,0.144,0.034,3007,2160,1611,0,0,0,0,0,0
$GC,6135,0.98,464.0,38.7,10.0,788,6226,0.10,1.73,79.40,0.552,4,0.096,0.037,3068,3274,1197,0,0,0,0,0,0
$GC,6247,0.98,464.0,22.2,17.2,802,6256,0.08,1.83,0.00,0.000,6,0.151,0.029,3051,2080,1196,0,0,0,0,0,0
$STATE,6375,end climb,SURFACE_DEPTH_REACHED
$STATE,6375,begin surface coast
$FINISH,0.1,1.009281
$STATE,6402,end surface coast,CONTROL_FINISHED_OK
$STATE,6402,begin surface
$SM_CCo,6417,115.97,0.055,0,0,481,640.23
$SM_GC,0.95,0.00,0.00,115.97,0.000,0.000,0.055,149,1995,481,-8.06,-0.85,640.23
$IRIDIUM_FIX,2406.29,12611.55,091010,040412
$TT8_MAMPS,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.3,32.201
$10V_AH,10.3,26.873
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.600,46.950,529.250,115.975,0.000,25.050,15.233,151.694,0.000,0.000,13.224,1929.559,1553.941,633.265,2566.858,146.705,0.000,1471.229,0.000,2385.140,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,107.100,865.215,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.285,0.000,1740.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,50320,827
$CAP_FILE_SIZE,86752,0
$CFSIZE,260165632,242524160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086, 38.1,1
$GPS,091010,082206,2414.190,12612.288,30,1.0,30,-3.6